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<div class="title">Map.h</div>  </div>
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<a href="_map_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#ifndef MAP_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define MAP_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">//#include &quot;MapPoint.h&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//#include &quot;KeyFrame.h&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">//#include &quot;System.h&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a>&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;boost/serialization/access.hpp&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_serializer_8h.html">Serializer.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;{</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">class </span>MapPoint;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">class </span>KeyFrame;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">class </span>ORBextractor;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">class </span>KeyFrameDatabase;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html">   52</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a1ab4040dee1287a387124b7d52ac8a02">Map</a>();</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a688de3b072e0176bb288bb70d36cd0e9">AddKeyFrame</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a2d8e1b4376778dfe32df90ec00b599e3">AddMapPoint</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a>* pMP);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#af3c82d5e66815fe66cbfb736784f15b5">EraseMapPoint</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a>* pMP);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a082d4a5ec57a48a7591d6769e4778a80">EraseKeyFrame</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#ac31706152aeb99c94ddb7f6ce452bd77">SetReferenceMapPoints</a>(<span class="keyword">const</span> std::vector&lt;MapPoint*&gt; &amp;vpMPs);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    std::vector&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a8cde12cda887a0eb1e24975f4e734592">GetAllKeyFrames</a>();</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    std::vector&lt;MapPoint*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a09f346e647d3d36ec644f96d878b0c9b">GetAllMapPoints</a>();</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    std::vector&lt;MapPoint*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a56e1d96a4e1d669609e2c2a493f133c2">GetReferenceMapPoints</a>();</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#ad2d7846734c8cb0421d67ff3907649ad">MapPointsInMap</a>();</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span>  <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a3440f5e9e93ca7231bde3c5138ab5f5c">KeyFramesInMap</a>();</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a1c93202df313c1245056e01dbb070dca">GetMaxKFid</a>();</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#abf0d75e6e234d89b06f568c4600d0436">clear</a>();</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#a9617fdf1c8349a1bf88bb13c20acf160">  123</a></span>&#160;    vector&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a9617fdf1c8349a1bf88bb13c20acf160">mvpKeyFrameOrigins</a>;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#a05544c09b3227d31163f10609b90b913">  126</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a05544c09b3227d31163f10609b90b913">mMutexMapUpdate</a>;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="comment">// This avoid that two points are created simultaneously in separate threads (id conflict)</span></div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#a968356226057387d8207054d56e5d35c">  130</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a968356226057387d8207054d56e5d35c">mMutexPointCreation</a>;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#a9d45e27f4e9362eb5f8db931b9376b85">  135</a></span>&#160;    std::set&lt;MapPoint*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a9d45e27f4e9362eb5f8db931b9376b85">puntosLejanos</a>;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#a2864c4d90418f02768c85d0255d1eca7">  139</a></span>&#160;    std::set&lt;MapPoint*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a2864c4d90418f02768c85d0255d1eca7">mspMapPoints</a>;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#abf1d31c2cb4df61d232bb7fbd7cfb61d">  142</a></span>&#160;    std::set&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#abf1d31c2cb4df61d232bb7fbd7cfb61d">mspKeyFrames</a>;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#ad1d98a7e8207b995494afa7c098a7aaf">  151</a></span>&#160;    std::vector&lt;MapPoint*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#ad1d98a7e8207b995494afa7c098a7aaf">mvpReferenceMapPoints</a>;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#abfafaf7ca3821cb069cb95fb88c91dfc">  154</a></span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#abfafaf7ca3821cb069cb95fb88c91dfc">mnMaxKFid</a>;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#a86b9fb9d5c601fb6fd88c46444bd553c">  157</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#a86b9fb9d5c601fb6fd88c46444bd553c">mMutexMap</a>;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">  160</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div><div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map.html#ad3f5346f31d572dd2ab4fcd658de5bc4">  161</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_serializer.html">Serializer</a>;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Archivo&gt; <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html#aa6d9c97f0bb802fd544d6abd928dba61">serialize</a>(Archivo&amp;, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;};</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;} <span class="comment">//namespace ORB_SLAM</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="preprocessor">#endif // MAP_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a1c93202df313c1245056e01dbb070dca"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a1c93202df313c1245056e01dbb070dca">ORB_SLAM2::Map::GetMaxKFid</a></div><div class="ttdeci">long unsigned int GetMaxKFid()</div><div class="ttdoc">Informa el id del último keyframe agregado. </div><div class="ttdef"><b>Definition:</b> Map.cc:103</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a8cde12cda887a0eb1e24975f4e734592"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a8cde12cda887a0eb1e24975f4e734592">ORB_SLAM2::Map::GetAllKeyFrames</a></div><div class="ttdeci">std::vector&lt; KeyFrame * &gt; GetAllKeyFrames()</div><div class="ttdoc">Devuelve un vector de keyframes con todos los keyframes del mapa. </div><div class="ttdef"><b>Definition:</b> Map.cc:73</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_af3c82d5e66815fe66cbfb736784f15b5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#af3c82d5e66815fe66cbfb736784f15b5">ORB_SLAM2::Map::EraseMapPoint</a></div><div class="ttdeci">void EraseMapPoint(MapPoint *pMP)</div><div class="ttdoc">Elimina un determinado punto del mapa. </div><div class="ttdef"><b>Definition:</b> Map.cc:49</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_ad2d7846734c8cb0421d67ff3907649ad"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#ad2d7846734c8cb0421d67ff3907649ad">ORB_SLAM2::Map::MapPointsInMap</a></div><div class="ttdeci">long unsigned int MapPointsInMap()</div><div class="ttdoc">Informa la cantidad de puntos en el mapa. </div><div class="ttdef"><b>Definition:</b> Map.cc:85</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a082d4a5ec57a48a7591d6769e4778a80"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a082d4a5ec57a48a7591d6769e4778a80">ORB_SLAM2::Map::EraseKeyFrame</a></div><div class="ttdeci">void EraseKeyFrame(KeyFrame *pKF)</div><div class="ttdoc">Elimina un determinado keyframe del mapa. </div><div class="ttdef"><b>Definition:</b> Map.cc:58</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_ad1d98a7e8207b995494afa7c098a7aaf"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#ad1d98a7e8207b995494afa7c098a7aaf">ORB_SLAM2::Map::mvpReferenceMapPoints</a></div><div class="ttdeci">std::vector&lt; MapPoint * &gt; mvpReferenceMapPoints</div><div class="ttdoc">Puntos de referencia en el mapa. </div><div class="ttdef"><b>Definition:</b> Map.h:151</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_ac31706152aeb99c94ddb7f6ce452bd77"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#ac31706152aeb99c94ddb7f6ce452bd77">ORB_SLAM2::Map::SetReferenceMapPoints</a></div><div class="ttdeci">void SetReferenceMapPoints(const std::vector&lt; MapPoint *&gt; &amp;vpMPs)</div><div class="ttdoc">Agrega un punto al conjunto de puntos de referencia. </div><div class="ttdef"><b>Definition:</b> Map.cc:67</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a2d8e1b4376778dfe32df90ec00b599e3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a2d8e1b4376778dfe32df90ec00b599e3">ORB_SLAM2::Map::AddMapPoint</a></div><div class="ttdeci">void AddMapPoint(MapPoint *pMP)</div><div class="ttdoc">Agrega un mapa 3D al mapa. </div><div class="ttdef"><b>Definition:</b> Map.cc:43</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html">ORB_SLAM2::Map</a></div><div class="ttdoc">Mapa del mundo, de puntos y keyframes. </div><div class="ttdef"><b>Definition:</b> Map.h:52</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_ac98d07dd8f7b70e16ccb9a01abf56b9c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">ORB_SLAM2::Map::access</a></div><div class="ttdeci">friend class boost::serialization::access</div><div class="ttdoc">Serialización agregada para guardar y cargar mapas. </div><div class="ttdef"><b>Definition:</b> Map.h:160</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">ORB_SLAM2::KeyFrame</a></div><div class="ttdoc">Cuadro clave, keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:79</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html">ORB_SLAM2::MapPoint</a></div><div class="ttdoc">Cada instancia representa un mapa 3D en el sistema de referencia del mapa. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:58</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a1ab4040dee1287a387124b7d52ac8a02"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a1ab4040dee1287a387124b7d52ac8a02">ORB_SLAM2::Map::Map</a></div><div class="ttdeci">Map()</div><div class="ttdoc">Constructor, que inicializa propiedades. </div><div class="ttdef"><b>Definition:</b> Map.cc:31</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a09f346e647d3d36ec644f96d878b0c9b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a09f346e647d3d36ec644f96d878b0c9b">ORB_SLAM2::Map::GetAllMapPoints</a></div><div class="ttdeci">std::vector&lt; MapPoint * &gt; GetAllMapPoints()</div><div class="ttdoc">Devuelve un vector de puntos, con todos los puntos del mapa. </div><div class="ttdef"><b>Definition:</b> Map.cc:79</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a05544c09b3227d31163f10609b90b913"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a05544c09b3227d31163f10609b90b913">ORB_SLAM2::Map::mMutexMapUpdate</a></div><div class="ttdeci">std::mutex mMutexMapUpdate</div><div class="ttdoc">Mutex para actualización del mapa. </div><div class="ttdef"><b>Definition:</b> Map.h:126</div></div>
<div class="ttc" id="_o_r_b_vocabulary_8h_html"><div class="ttname"><a href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a688de3b072e0176bb288bb70d36cd0e9"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a688de3b072e0176bb288bb70d36cd0e9">ORB_SLAM2::Map::AddKeyFrame</a></div><div class="ttdeci">void AddKeyFrame(KeyFrame *pKF)</div><div class="ttdoc">Agrega un nuevo keyframe al mapa. </div><div class="ttdef"><b>Definition:</b> Map.cc:35</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_abf0d75e6e234d89b06f568c4600d0436"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#abf0d75e6e234d89b06f568c4600d0436">ORB_SLAM2::Map::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Reinicia el mapa. </div><div class="ttdef"><b>Definition:</b> Map.cc:109</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a9d45e27f4e9362eb5f8db931b9376b85"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a9d45e27f4e9362eb5f8db931b9376b85">ORB_SLAM2::Map::puntosLejanos</a></div><div class="ttdeci">std::set&lt; MapPoint * &gt; puntosLejanos</div><div class="ttdoc">Puntos lejanos. </div><div class="ttdef"><b>Definition:</b> Map.h:135</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a9617fdf1c8349a1bf88bb13c20acf160"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a9617fdf1c8349a1bf88bb13c20acf160">ORB_SLAM2::Map::mvpKeyFrameOrigins</a></div><div class="ttdeci">vector&lt; KeyFrame * &gt; mvpKeyFrameOrigins</div><div class="ttdoc">Registro de los keyframes iniciales. </div><div class="ttdef"><b>Definition:</b> Map.h:123</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a2864c4d90418f02768c85d0255d1eca7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a2864c4d90418f02768c85d0255d1eca7">ORB_SLAM2::Map::mspMapPoints</a></div><div class="ttdeci">std::set&lt; MapPoint * &gt; mspMapPoints</div><div class="ttdoc">Puntos del mapa. </div><div class="ttdef"><b>Definition:</b> Map.h:139</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a56e1d96a4e1d669609e2c2a493f133c2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a56e1d96a4e1d669609e2c2a493f133c2">ORB_SLAM2::Map::GetReferenceMapPoints</a></div><div class="ttdeci">std::vector&lt; MapPoint * &gt; GetReferenceMapPoints()</div><div class="ttdoc">Devuelve un vector de puntos a graficar. </div><div class="ttdef"><b>Definition:</b> Map.cc:97</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a3440f5e9e93ca7231bde3c5138ab5f5c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a3440f5e9e93ca7231bde3c5138ab5f5c">ORB_SLAM2::Map::KeyFramesInMap</a></div><div class="ttdeci">long unsigned KeyFramesInMap()</div><div class="ttdoc">Informa la cantidad de keyframes en el mapa. </div><div class="ttdef"><b>Definition:</b> Map.cc:91</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_abf1d31c2cb4df61d232bb7fbd7cfb61d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#abf1d31c2cb4df61d232bb7fbd7cfb61d">ORB_SLAM2::Map::mspKeyFrames</a></div><div class="ttdeci">std::set&lt; KeyFrame * &gt; mspKeyFrames</div><div class="ttdoc">KeyFrames del mapa. </div><div class="ttdef"><b>Definition:</b> Map.h:142</div></div>
<div class="ttc" id="_serializer_8h_html"><div class="ttname"><a href="_serializer_8h.html">Serializer.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_serializer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_serializer.html">ORB_SLAM2::Serializer</a></div><div class="ttdoc">Clase encargada de la serialización (guarda y carga) del mapa. </div><div class="ttdef"><b>Definition:</b> Serializer.h:23</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_aa6d9c97f0bb802fd544d6abd928dba61"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#aa6d9c97f0bb802fd544d6abd928dba61">ORB_SLAM2::Map::serialize</a></div><div class="ttdeci">void serialize(Archivo &amp;, const unsigned int)</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a86b9fb9d5c601fb6fd88c46444bd553c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a86b9fb9d5c601fb6fd88c46444bd553c">ORB_SLAM2::Map::mMutexMap</a></div><div class="ttdeci">std::mutex mMutexMap</div><div class="ttdoc">Mutext del mapa. </div><div class="ttdef"><b>Definition:</b> Map.h:157</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_abfafaf7ca3821cb069cb95fb88c91dfc"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#abfafaf7ca3821cb069cb95fb88c91dfc">ORB_SLAM2::Map::mnMaxKFid</a></div><div class="ttdeci">long unsigned int mnMaxKFid</div><div class="ttdoc">Id del último keyframe agregado. </div><div class="ttdef"><b>Definition:</b> Map.h:154</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html_a968356226057387d8207054d56e5d35c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html#a968356226057387d8207054d56e5d35c">ORB_SLAM2::Map::mMutexPointCreation</a></div><div class="ttdeci">std::mutex mMutexPointCreation</div><div class="ttdoc">Mutex para agregado de nuevos puntos al mapa. </div><div class="ttdef"><b>Definition:</b> Map.h:130</div></div>
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